Control method of vehicle and input / output control device

Abstract

To enhance convenience of an operator or a user in comparison with conventional parking support or automatic parking when performing parking support or automatic parking of a vehicle.SOLUTION: A control method of a vehicle comprises a sensor which acquires external situation, a display device on which a boarding person is installed so as to make it possible to view, an input device which receives operation of the boarding person and a vehicle control part which controls at least steering. The sensor detects at least a first parking position and a second parking position on the basis of external situation acquired. The display device displays the first parking position and a first recommendation degree of the first parking position and the second parking position and a second recommendation degree of the second parking position. The input device controls at least steering so that the vehicle control part travel the vehicle toward either one of the first parking position or the second parking position selected when receiving operation which selects either of the first parking position or the second parking position.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a vehicle control method and an input / output control device.

Background Art

[0002] Conventionally, parking assistance technologies for moving a vehicle by automatic driving when parking the vehicle are known. As one such parking assistance technology, for example, a technology for detecting a parking space available in a parking lot and automatically parking the vehicle in the parking space is known.

[0003] In addition, a technology has also been proposed that outputs results corresponding to each item such as the required time, the number of route switches, curvature, and parking completion when parking the vehicle using a parking assistance technology for a detected parking space.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional technology, the output results may not be suitable for the parking scene, environment, driver's requests, etc. when actually performing automatic parking. Therefore, parking assistance may not be utilized, and there is room for further improvement.

[0006] The present disclosure has been made in view of the above problems, and provides a vehicle control method and an input / output control device capable of improving the convenience of a driver or user when performing parking assistance or automatic parking of a vehicle as compared with the conventional technology.

Means for Solving the Problems

[0007] The vehicle control method according to the present disclosure is a vehicle control method including a sensor that acquires external situations, a display device installed so as to be visible to passengers, an input device that receives operations of passengers, and a vehicle control unit that controls at least steering. Based on the external situations acquired by the sensor, at least a first parking position and a second parking position are detected, the display device displays the first parking position and a first recommendation degree of the first parking position, and the second parking position and a second recommendation degree of the second parking position. When the input device receives an operation of selecting either the first parking position or the second parking position, the vehicle control unit controls at least the steering so that the vehicle travels toward either the selected first parking position or the second parking position.

Advantages of the Invention

[0008] According to the vehicle control method according to the present disclosure, convenience for a driver or a user can be improved as compared with the prior art.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments of a vehicle control method and an input / output control device according to the present disclosure will be described with reference to the drawings.

[0011] In the description of the present disclosure, for components having the same or substantially the same functions as those described above with respect to the existing figures, the same reference numerals may be given, and the description may be omitted as appropriate. Also, even when representing the same or substantially the same part, there may be cases where the dimensions and ratios are shown differently in the drawings. Further, for example, from the viewpoint of ensuring the visibility of the drawings, only main components are given reference numerals in the description of each drawing, and there may be cases where components having the same or substantially the same functions as those described above in the existing figures are not given reference numerals.

[0012] As a usage scenario of the vehicle control system including the vehicle control device of the present embodiment, for example, when parking the vehicle in a parking lot at a destination, the vehicle detects a parking position where the vehicle can be parked, and an example of a scene where the vehicle automatically executes parking with respect to the parking position selected by the user is illustrated. In the present embodiment, an example of automatically executing parking while the user remains in the vehicle will be described. However, the user may perform operations on the vehicle 1 related to forward / backward movement and acceleration / deceleration, and the vehicle control unit 11 may be configured to control only the steering of the vehicle 1. It may also be done.

[0013] (Embodiment) The input / output control device according to the present embodiment is a device configured to be coupled to a sensor that acquires the external situation of the vehicle, a display device installed so as to be visible to the passengers of the vehicle, an input device that receives the operations of the passengers, and a vehicle control unit that controls at least the steering of the vehicle 1.

[0014] FIG. 1 is a block diagram showing an example of the overall configuration of the vehicle 1 according to the embodiment. The vehicle 1 includes a vehicle control device 10, a travel control circuit 12, a sensor 14, a storage device 16, a display device 18, and an input device 20. The vehicle control device 10, the travel control circuit 12, the sensor 14, the storage device 16, the display device 18, and the input device 20 are connected so as to be able to exchange data or signals. That is, the vehicle control device 10 is set to be communicably connected to at least the travel control circuit 12, the sensor 14, the storage device 16, the display device 18, and the input device 20.

[0015] The travel control circuit 12 is a means for realizing the driving, braking, and turning motions necessary for the travel of the vehicle 1. For example, the travel control circuit 12 includes a drive motor, a power transmission mechanism, a braking device, a steering device, etc., and an electronic vehicle control device that controls them. The travel control circuit 12, for example, generates power with a drive motor and transmits the power to the wheels via a power transmission mechanism to make the vehicle 1 travel. The power transmission mechanism is, for example, a propeller shaft, a differential gear, a drive shaft, etc.

[0016] Sensor 14 is various sensors mounted on vehicle 1 for detecting the driving state of vehicle 1. Sensor 14 includes, for example, an accelerator opening sensor for detecting the accelerator opening, a steering angle sensor for detecting the steering angle of the steering device, an acceleration sensor for detecting the acceleration acting in the longitudinal direction of vehicle 1, a torque sensor for detecting the torque acting on the power transmission mechanism between the wheels and the drive motor of vehicle 1, a vehicle speed sensor for detecting the vehicle speed of vehicle 1, a wheel speed sensor, and the like.

[0017] Also, sensor 14 is various sensors mounted on vehicle 1 for acquiring external situations. Sensor 14 includes at least one of, for example, a camera, an ultrasonic sensor, a radar, etc. Sensor 14 outputs the sensor information obtained by detection to vehicle control device 10.

[0018] The camera is a surrounding sensor mounted on vehicle 1 for monitoring the surrounding environment of vehicle 1. The camera acquires external images. In this embodiment, the camera images the surroundings of vehicle 1 and sequentially outputs the captured images to vehicle control device 10. In this embodiment, the camera outputs to vehicle control device 10 an imaging video composed of a plurality of imaging images along a time series obtained by imaging the surroundings of vehicle 1 along a time series. Hereinafter, the imaging video may be simply referred to as a video for explanation.

[0019] Also, in this embodiment, the camera is also applied to the use of detecting an object existing around vehicle 1 and estimating the existence position of vehicle 1 from the positional relationship between vehicle 1 and the object existing around vehicle 1. The position, the number of installations, and the imaging direction of the camera are adjusted in advance so that the surroundings of vehicle 1 can be imaged. For example, vehicle 1 is provided with four cameras arranged so as to be able to image four directions: the front direction, the rear direction, the left direction, and the right direction of vehicle 1. Note that the number of cameras provided on vehicle 1 is not limited to four.

[0020] The ultrasonic sensor sends out sound waves to the outside and acquires the external situation from the reflected waves. Hereinafter, the ultrasonic sensor may be referred to as a sonar for explanation. The radar sends out electromagnetic waves to the outside and acquires the external situation from the reflected waves.

[0021] The storage device 16 stores various types of data. In the present embodiment, data such as parking position information 161, recommendation degree information 162, route information 163, and evaluation information 164 are stored in the storage device 16. Details of the parking position information 161, recommendation degree information 162, route information 163, and evaluation information 164 will be described later. The storage device 16 is, for example, an auxiliary storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory.

[0022] The parking position information 161 is information including detection of a parking position indicating a parking area existing around the vehicle 1 when starting the automatic parking function. Further, the parking position information 161 may include information detecting a parking position candidate indicating a vacant parking area of the vehicle 1. Furthermore, the parking position information 161 may include latitude and longitude information at the parking position.

[0023] The recommendation degree information 162 is information including a recommendation degree corresponding to a parking position candidate indicating a vacant parking area of the vehicle 1 when starting the automatic parking function. Details will be described later. The route information 163 is information including a driving route from the own vehicle position of the vehicle 1 to the parking position candidate corresponding to the parking position candidate. The driving route is generated by applying a known method. The evaluation information 164 is information including evaluation items for obtaining the recommendation degree. Details will be described later.

[0024] The display device 18 is a display that displays various images. The display device 18 is installed so as to be visible to a user who is a passenger of the vehicle 1. Examples of the display include a liquid crystal display (LCD), an organic EL (Electo - Luminescence) display, a projector, and the like. The display is an example of a display unit.

[0025] The input device 20 acquires the input operations of the user. The input device 20 is, for example, a device that receives the operations of the passengers. The input device 20 is, for example, an input device such as a keyboard, a touch panel, a switch, etc. The input device 20 may be a touch panel display integrally configured with the display device 18. That is, the input device 20 may be a touch panel superimposed on the display unit of the display device 18.

[0026] The vehicle control device 10 is an electronic control unit that comprehensively controls each part of the vehicle 1. Using the sensor information and the like received from the sensors 14 respectively, the vehicle control device 10 controls the driving control circuit 12 so that the driving state of the vehicle 1 becomes optimal. Further, the vehicle control device 10 controls the driving control circuit 12 to make the vehicle 1 run autonomously. The vehicle control device 10 is an example of an input / output control device.

[0027] Here, the hardware configuration of the vehicle control device 10 will be described. FIG. 2 is a block diagram showing an example of the hardware configuration of the vehicle control device 10 according to the embodiment. The vehicle control device 10 has a CPU (Central Processing Unit) 111, a ROM (Read Only Memory) 112, a RAM (Random Access Memory) 113, and an I / F 114 for connecting to various devices, etc., which are interconnected by a bus 115, and has a hardware configuration using a normal computer.

[0028] The CPU 111 is an arithmetic unit that controls the overall processing of the vehicle control device 10. The ROM 112 stores programs and the like for realizing various processes by the CPU 111. The RAM 113 stores data necessary for various processes by the CPU 111. The I / F 114 is an interface for connecting to an external device or an external terminal via a communication line or the like and transmitting and receiving data to and from the connected external device or external terminal.

[0029] The program for executing the various processes executed by the vehicle control device 10 is provided by being pre - incorporated in the ROM 112 or the like. The program for executing the vehicle control method executed in the present embodiment may be configured to be recorded and provided on a computer - readable recording medium such as a CD - ROM, a flexible disk (FD), a CD - R, a DVD (Digital Versatile Disc) in a file format installable or executable on these devices.

[0030] Also, regarding the hardware configurations of the display device 18 and the input device 20, since they are the same as the hardware configuration of the vehicle control device 10 shown in FIG. 2, detailed description thereof is omitted.

[0031] Returning to FIG. 1, the vehicle control device 10 includes a vehicle control unit 11. Part or all of the vehicle control unit 11 may be a software configuration realized by the cooperation of a processor and various programs stored in a memory. Also, part or all of the vehicle control unit 11 may be a hardware configuration realized by a dedicated circuit or the like.

[0032] The vehicle control unit 11 comprehensively controls the processes related to each function of the vehicle.

[0033] In the present embodiment, the vehicle control unit 11 controls at least the steering of the vehicle 1 based on an input operation of the input device 20 by the user or the like.

[0034] Specifically, when an input operation of the input device 20 corresponding to the automatic parking start function is performed by the user, the vehicle control unit 11 starts the automatic parking function. Also, the vehicle control unit 11 starts detecting a parking position indicating a parking area existing around the vehicle 1. Further, the vehicle control unit 11 detects a parking position candidate indicating a parking available area of the vehicle 1 and outputs it to the display device 18.

[0035] Then, the vehicle control unit 11 receives the parking position candidate selected by the user from the input device 20 from among the parking position candidates. Further, the vehicle control unit 11 generates a travel route corresponding to the selected parking position candidate. Furthermore, the vehicle control unit 11 controls at least the steering of the vehicle 1 in order to perform automatic parking based on the generated travel route.

[0036] In addition, the vehicle control unit 11 usually controls forward / backward movement and acceleration / deceleration in addition to steering. However, the user may operate the vehicle 1 regarding forward / backward movement and acceleration / deceleration, and the vehicle control unit 11 may control only the steering of the vehicle 1.

[0037] Next, an example of a parking scene according to the present embodiment will be described with reference to FIG. 3. FIG. 3 is a diagram for explaining an example of parking support for a vehicle according to the embodiment. FIG. 3 shows the vehicle 1, parking positions 31 to 40 indicating the parking area of the vehicle 1, and a parking position candidate 50 indicating the vacant parking area of the vehicle 1. In FIG. 3, other vehicles are already parked at the parking positions 34, 35, 38, and 40. Further, the vehicle control device 10 has detected the parking positions 32, 33, 37, and 39 as parking position candidates 50.

[0038] The input / output control device in the present embodiment, for example, in the parking scene shown in FIG. 3, detects at least a first parking position and a second parking position based on the external situation acquired by the sensor 14, and causes the display device 18 to display the first parking position and the first recommendation degree of the first parking position, and the second parking position and the second recommendation degree of the second parking position. When the input device 20 receives an operation of selecting either the first parking position or the second parking position, the vehicle control unit 11 controls at least the steering so that the vehicle 1 travels toward either the selected first parking position or the second parking position.

[0039] Here, the first recommendation degree for the first parking position, the second parking position, and the second recommendation degree for the second parking position will be described with reference to FIG. 4. FIG. 4 is a diagram for explaining an example of the recommendation degree according to the embodiment. In addition to the content described in FIG. 3, FIG. 4 further assigns recommendation degrees 501 to 503 to the parking position candidates 50.

[0040] The recommendation degree 501 corresponds to the parking position candidate 50 at the parking position 33. The recommendation degree 502 corresponds to the parking position candidate 50 at the parking position 39. Furthermore, the recommendation degree 503 corresponds to the parking position candidates 50 at the parking positions 33 and 37. The degree of recommendation shown in the recommendation degrees shown in FIG. 4 indicates the order of recommendation, with the recommendation degree 501 being the largest, followed by the recommendation degree 502 and the recommendation degree 503 in that order.

[0041] For a more specific description of the recommendation degree, in FIG. 4, the first parking position is the parking position 33, and the second parking position is the parking position 39. Also, in FIG. 4, the first recommendation degree is the recommendation degree 501 for the parking position 33, and the second recommendation degree is the recommendation degree 502 for the parking position 39.

[0042] First, in order for the display device 18 to obtain (generate) the recommendation degree corresponding to the parking position candidate, the display device 18 determines the recommendation degrees 501 and 502 based on the positional relationship between the position of the vehicle 1 and the parking positions 33 and 39 at a time point before displaying the recommendation degree 501 for the parking position 33 and the parking position 33, and the recommendation degree 502 for the parking position 39 and the parking position 39.

[0043] For example, the display device 18 obtains the first route from the position of the vehicle 1 to the parking position 33 at a time point before displaying the recommendation degree 501 for the parking position 33 and the parking position 33, and the second route from the position of the vehicle 1 to the parking position 39 at a time point before displaying the recommendation degree 502 for the parking position 39 and the parking position 39, and determines the recommendation degrees 501 and 502 based on the first route and the second route.

[0044] Then, the display device 18 displays the parking position 33 and the recommendation degree 501, and the parking position 39 and the recommendation degree 502, and also displays the first route and the second route.

[0045] The recommendation degree is information based on the evaluation values of one or more evaluation items related to parking assistance when the display device 18 displays parking position candidates. The evaluation items include, for example, the number of route switches, the shortest distance to an obstacle on the driving route, the maximum steering angle, the number of full-lock steering operations, the required time of the driving route, the area required for the driving route, the finish quality at the parking position related to the driving route, the degree of proximity to adjacent vehicles at the parking position, the presence or absence of a roof at the parking position, and a plurality of other evaluation items. For each of the plurality of evaluation items, a weighting coefficient is set according to the priority regarding parking. That is, the recommendation degree is information including a multiplication value obtained by multiplying the evaluation value (hereinafter also referred to as a scale) of each evaluation item by the weighting coefficient. The display device 18 obtains the recommendation degree by multiplying the scale by the weighting coefficient and adding it to the evaluation value of the parking position candidate.

[0046] For example, when the recommendation degree 501 shown in FIG. 4 is greater than the recommendation degree 502, the number of first switches of the first route is smaller than the number of second switches of the second route, the first shortest distance to surrounding obstacles on the first route is greater than the second shortest distance to surrounding obstacles on the second route, the first maximum steering angle of the first route is smaller than the second maximum steering angle of the second route, the first maximum angular velocity of the steering angle of the first route is smaller than the second maximum speed of the steering angle of the second route, the first number of full-lock steering operations of the first route is smaller than the second number of full-lock steering operations of the second route, the first required time of the first route is shorter than the second required time of the second route, the first area required for the first route is narrower than the second area of the second route, the first finish quality of parking at the first parking position related to the first route is higher than the second finish quality of parking at the second parking position related to the second route. In at least one of these cases, the recommendation degree 501 of the parking position 33 is greater than the recommendation degree 502 of the parking position 39.

[0047] Also, for example, when the recommendation level 501 shown in FIG. 4 is greater than the recommendation level 502, if at least one of the following conditions is met: the first distance to the adjacent vehicle at the parking position 33 is greater than the second distance to the adjacent vehicle at the parking position 39; the first roof coverage rate at the parking position 33 is greater than the second roof coverage rate at the parking position 39, then the recommendation level 501 for the parking position 33 is greater than the recommendation level 502 for the parking position 39. Here, the roof coverage rate is the ratio of the area occupied by the roof above the vehicle 1 at the end of parking.

[0048] Accordingly, when performing parking support or automatic parking of the vehicle, the input / output control device can improve the convenience for the driver or user as compared with the prior art.

[0049] FIG. 5 is a flowchart showing an example of the processing of the vehicle control device 10 according to the present embodiment.

[0050] In step S51, when the vehicle control unit 11 detects an input operation of the input device 20 by the user corresponding to the automatic parking start function, it starts the automatic parking function (step S51). In step S52, the vehicle control unit 11 starts detecting parking positions indicating the parking areas existing around the vehicle 1 (step S52).

[0051] In step S53, the vehicle control unit 11 detects parking position candidates indicating the parking available areas of the vehicle 1 and outputs them to the display device 18 (step S53). In step S54, the vehicle control unit 11 receives the parking position candidates selected by the user from the input device 20 from the parking position candidates (step S54).

[0052] In step S55, the vehicle control unit 11 generates a driving route corresponding to the selected parking position candidate (step S55). In step S56, the vehicle control unit 11 controls at least the steering of the vehicle 1 in order to perform automatic parking driving based on the generated driving route (step S56). When the processing of step S56 is completed, the vehicle control device 10 ends this processing.

[0053] FIG. 6 is a flowchart showing an example of the processing of the display device 18 according to the present embodiment. The processing shown in FIG. 6 is assumed to be performed after step S53 shown in FIG. 5 described above. That is, the processing shown in FIG. 6 will describe the processing in which the display device 18 obtains the recommendation degree corresponding to the parking position candidate and displays the recommendation degree for each parking position candidate.

[0054] In step S61, the display device 18 starts evaluating the parking position candidates output by the vehicle control device 10 for parking assistance (step S61). In step S62, the display device 18 evaluates one or more evaluation items related to parking assistance based on the positional relationship between the position of the vehicle 1 and the parking position candidates (step S62).

[0055] In step S63, the display device 18 multiplies the evaluation value of each evaluation item by a weight coefficient, adds it to the evaluation value of the parking position candidate, and obtains the recommendation degree (step S63). In step S64, the display device 18 determines whether it has calculated for all scales (step S64). Here, if the display device 18 determines that it has not calculated for all scales (step S64: No), it proceeds to step S62. On the other hand, if the display device 18 determines that it has calculated for all scales (step S64: Yes), it proceeds to step S65.

[0056] In step S65, the display device 18 determines whether it has evaluated all the parking position candidates (step S65). Here, if the display device 18 determines that it has not evaluated all the parking position candidates (step S65: No), it proceeds to step S61. On the other hand, if the display device 18 determines that it has evaluated all the parking position candidates (step S65: Yes), the display device 18 displays the recommendation degree for each parking position candidate and also displays the driving route for each parking position candidate.

[0057] As described above, the vehicle control method according to the present embodiment includes a sensor 14 that acquires external conditions, a display device 18 installed so as to be visible to passengers, an input device 20 that receives operations of passengers, and a vehicle control unit 11 that controls at least steering. The vehicle control method includes detecting at least a first parking position and a second parking position based on the external conditions acquired by the sensor 14, the display device 18 displaying the first parking position and the first recommendation degree of the first parking position, and the second parking position and the second recommendation degree of the second parking position, and when the input device 20 receives an operation of selecting either the first parking position or the second parking position, the vehicle control unit 11 controls at least the steering so that the vehicle 1 travels toward either the selected first parking position or the second parking position.

[0058] Therefore, the driver or user boarding the vehicle 1 can check the recommendation degree for each parking position candidate output by the display device 18 and move the vehicle 1 to the parking position selected by the driver or user.

[0059] Therefore, according to the vehicle 1 control method according to the present disclosure, the convenience of the driver or user can be improved as compared with the prior art.

[0060] (First Modification Example) In the above-described embodiment, the recommendation degree was displayed for the parking position candidates in the order of recommendation (numbers, see FIG. 4), but it is not limited to this. For example, the recommendation degree may be displayed by the order of recommendation in terms of color, size, color density, hatching, the quality of parking at the parking position, and the like.

[0061] FIGS. 7 to 11 are diagrams for explaining an example of the recommendation degree according to the first modification example. FIGS. 7 to 11 are modification examples of the recommendation degree shown in FIG. 4.

[0062] For example, the recommendation level 511 shown in FIG. 7 corresponds to the recommendation level 501 shown in FIG. 4. Also, the recommendation level 512 shown in FIG. 7 corresponds to the recommendation level 502 shown in FIG. 4. Furthermore, the recommendation level 513 shown in FIG. 7 corresponds to the recommendation level 503 shown in FIG. 4. For example, in the first modification, in FIG. 7, the recommendation level 511 is shown in red, the recommendation level 512 is shown in yellow, and the recommendation level 513 is shown in blue.

[0063] For example, the recommendation level 521 shown in FIG. 8 corresponds to the recommendation level 501 shown in FIG. 4. Also, the recommendation level 522 shown in FIG. 8 corresponds to the recommendation level 502 shown in FIG. 4. Furthermore, the recommendation level 523 shown in FIG. 8 corresponds to the recommendation level 503 shown in FIG. 4. For example, in the first modification, in FIG. 8, the recommendation levels 521, 522, and 523 are shown in decreasing size order.

[0064] For example, the recommendation level 531 shown in FIG. 9 corresponds to the recommendation level 501 shown in FIG. 4. Also, the recommendation level 532 shown in FIG. 9 corresponds to the recommendation level 502 shown in FIG. 4. Furthermore, the recommendation level 533 shown in FIG. 9 corresponds to the recommendation level 503 shown in FIG. 4. For example, in the first modification, in FIG. 9, the recommendation levels 531, 532, and 533 are shown in decreasing color density order.

[0065] For example, the recommendation level 541 shown in FIG. 10 corresponds to the recommendation level 501 shown in FIG. 4. Also, the recommendation level 542 shown in FIG. 10 corresponds to the recommendation level 502 shown in FIG. 4. Furthermore, the recommendation level 543 shown in FIG. 10 corresponds to the recommendation level 503 shown in FIG. 4. For example, in the first modification, in FIG. 10, the recommendation levels 541, 542, and 543 are shown in increasing hatching fineness order.

[0066] For example, the recommendation level 551 shown in FIG. 11 corresponds to the recommendation level 501 shown in FIG. 4. Also, the recommendation level 552 shown in FIG. 11 corresponds to the recommendation level 502 shown in FIG. 4. Furthermore, the recommendation level 553 shown in FIG. 11 corresponds to the recommendation level 503 shown in FIG. 4. For example, in the first modification, in FIG. 11, the recommendation levels 541, 542, and 543 are shown in terms of the parking outcome at the parking position.

[0067] (Second Modification Example) In the control method of the vehicle 1 according to the second modification example, the setting related to how to obtain the first recommendation degree of the first parking position and the second recommendation degree of the second parking position may be changeable. For example, the user may set weights for the evaluation values (scales) of each evaluation item according to their preferences. FIGS. 12 to 14 are diagrams for explaining an example of setting the weight coefficients of the scales according to the second modification example. For example, FIGS. 12 to 14 show a screen for changing the weights of the evaluation values (scales) of each evaluation item and are output to the display device 18.

[0068] FIG. 12 is a screen for setting with a slide bar when the user sets the scale weights. FIG. 13 is a screen for inputting and setting a ratio when the user sets the scale weights. FIG. 14 is a screen for inputting and setting a priority order when the user sets the scale weights. By setting the scale weights, the user can execute parking support according to their preferences, so that the convenience of the driver or user can be improved compared to the prior art.

[0069] (Third Modification Example) In the above-described embodiments, the case where there are a plurality of parking position candidates in the parking scene has been described. In the second modification example, the case where there is one parking position candidate will be described. FIGS. 15 to 17 are diagrams for explaining an example of the recommendation degree according to the third modification example. FIGS. 15 to 17 show the vehicle 1 and the parking positions 41 to 46 indicating the parking area of the vehicle 1.

[0070] In FIGS. 15 to 17, other vehicles are already parked at the parking positions 41 to 44 and 46. Also, the vehicle control device 10 has detected the parking position 45 as a parking position candidate. In FIG. 15, the recommendation degree 51 of the parking position candidate is shown. In FIG. 16, the recommendation degree 52 of the parking position candidate is shown. In FIG. 17, the recommendation degree 53 of the parking position candidate is shown.

[0071] The control method of the vehicle 1 according to the third modification example detects the parking position 45 based on the external situation acquired by the sensor 14, and the display device 18 displays the parking position 45 and the recommendation degrees 51 to 53 of the parking position 45. When the input device 20 receives an operation of selecting the parking position 45, the vehicle control unit 11 controls at least the steering so that the vehicle 1 travels toward the selected parking position 45.

[0072] In FIG. 15, the recommendation degree 51 is indicated using the color density. For example, the higher the color density, the higher the recommendation degree. In FIG. 16, the recommendation degree 52 is indicated using blinking or hatching. For example, the slower the blinking speed of the recommendation degree 512, the higher the recommendation degree. For example, the coarser the fineness of the hatching of the recommendation degree 512, the higher the recommendation degree. In FIG. 17, the recommendation degree 53 is indicated using the success rate of parking at the parking position.

[0073] Therefore, the driver or user boarding the vehicle 1 can check the recommendation degree for each parking position candidate output by the display device 18 and move the vehicle 1 to the parking position selected by the driver or user. Therefore, according to the control method of the vehicle 1 according to the third modification example, the convenience of the driver or user can be improved as compared with the prior art.

[0074] The program for executing the control method of the vehicle executed in the present embodiment may be stored on a computer connected to a network such as the Internet and provided by downloading it via the network. Further, the program for executing the control method of the vehicle executed in the present embodiment may be configured to be provided or distributed via a network such as the Internet.

[0075] Although embodiments of the present disclosure have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments are included in the scope and gist of the invention, as well as in the invention described in the claims and the scope of equivalents thereof.

Description of Reference Numerals

[0076] 1 Vehicle 10 Vehicle control device 11 Vehicle control unit 12 Travel control circuit 14 Sensor 16 Storage device 18 Display device 20 Input device

Claims

1. A method for controlling a vehicle, comprising a sensor for acquiring external conditions, a display device installed in a visible manner for a passenger, an input device for receiving an operation of the passenger, and a vehicle control unit for controlling at least steering, detecting at least a first parking position and a second parking position based on the external conditions acquired by the sensor, the display device displaying the first parking position and a first recommendation degree of the first parking position, and the second parking position and a second recommendation degree of the second parking position, when the input device receives an operation of selecting either the first parking position or the second parking position, the vehicle control unit controls the at least steering so that the vehicle travels toward either the selected first parking position or the second parking position, A method for controlling a vehicle.

2. The method for controlling a vehicle according to claim 1, obtaining the first recommendation degree and the second recommendation degree based on a positional relationship between a position of the vehicle at a time point before the display device displays the first parking position and the first recommendation degree and the second parking position and the second recommendation degree, A method for controlling a vehicle.

3. The method for controlling a vehicle according to claim 2, obtaining a first route from the position of the vehicle at the time point to the first parking position, and a second route from the position of the vehicle at the time point to the second parking position, and obtaining the first recommendation degree and the second recommendation degree based on the first route and the second route, A method for controlling a vehicle.

4. The method for controlling a vehicle according to claim 3, the display device displaying the first parking position and the first recommendation degree, and the second parking position and the second recommendation degree, and also displaying the first route and the second route, A method for controlling a vehicle.

5. The method for controlling a vehicle according to claim 3, the number of first turnbacks of the first route is smaller than the number of second turnbacks of the second route, a first shortest distance to a surrounding obstacle in the first route is larger than a second shortest distance to a surrounding obstacle in the second route, a first maximum steering angle in the first route is smaller than a second maximum steering angle in the second route, a first maximum angular velocity of a steering angle in the first route is smaller than a second maximum velocity of a steering angle in the second route, The first number of times of fixed steering in the first path is smaller than the second number of times of fixed steering in the second path. The first required time of the first path is shorter than the second required time of the second path. The first area required for the first path is narrower than the second area of the second path. The first quality of parking at the first parking position related to the first path is higher than the second quality of parking at the second parking position related to the second path. Among them, in at least one case, the first recommendation degree of the first parking position is greater than the second recommendation degree of the second parking position. Vehicle control method.

6. A vehicle control method according to claim 1, The setting related to the method of obtaining the first recommendation degree of the first parking position and the second recommendation degree of the second parking position is changeable. Vehicle control method.

7. A vehicle control method according to claim 1, The sensor for obtaining external conditions is A camera for obtaining external images, A sonar that sends out sound waves to the outside and obtains external conditions from the reflected waves, A radar that sends out electromagnetic waves to the outside and obtains external conditions from the reflected waves, At least one of them. Vehicle control method.

8. A vehicle control method according to claim 1, The input device is a touch panel superimposed on the display unit of the display device. Vehicle control method.

9. A vehicle control method according to claim 1, The first distance from adjacent vehicles at the first parking position is greater than the second distance from adjacent vehicles at the second parking position. The first roof coverage rate at the first parking position is greater than the second roof coverage rate at the second parking position. Among them, in at least one case, the first recommendation degree of the first parking position is greater than the second recommendation degree of the second parking position. Vehicle control method.

10. A vehicle control method for a vehicle including a sensor for obtaining external conditions, a display device installed so that a passenger can visually recognize it, an input device for receiving an operation of the passenger, and at least a vehicle control unit for controlling steering, Based on the external conditions acquired by the sensor, a parking position is detected. The display device displays the parking position and the recommendation degree of the parking position. When the input device receives an operation of selecting the parking position, the vehicle control unit controls at least the steering so that the vehicle travels toward the selected parking position. Vehicle control method.

11. An input / output control device configured to be coupled to a sensor that acquires the external situation of a vehicle, a display device installed so as to be visible to the passengers of the vehicle, an input device that receives the operations of the passengers, and a vehicle control unit that controls at least the steering of the vehicle, detect at least a first parking position and a second parking position based on the external situation acquired by the sensor, the display device displays the first parking position and the first recommendation degree of the first parking position, and the second parking position and the second recommendation degree of the second parking position, when the input device receives an operation of selecting either the first parking position or the second parking position, the vehicle control unit controls at least the steering so that the vehicle travels toward either the selected first parking position or the second parking position, Input / output control device.

12. The input / output control device according to claim 11, the display device obtains the first recommendation degree and the second recommendation degree based on the positional relationship between the position of the vehicle, the first parking position, and the second parking position at a time point before displaying the first parking position and the first recommendation degree, and the second parking position and the second recommendation degree, Input / output control device.

13. The input / output control device according to claim 12, a first route from the position of the vehicle at the time point to the first parking position, a second route from the position of the vehicle at the time point to the second parking position are obtained, the first recommendation degree and the second recommendation degree are obtained based on the first route and the second route, Input / output control device.

14. The input / output control device according to claim 13, the display device displays the first parking position and the first recommendation degree, the second parking position and the second recommendation degree, and also displays the first route and the second route, Input / output control device.

15. The input / output control device according to claim 13, the number of first turnbacks of the first route is smaller than the number of second turnbacks of the second route, the first shortest distance to the surrounding obstacles in the first route is larger than the second shortest distance to the surrounding obstacles in the second route, the first maximum steering angle in the first route is smaller than the second maximum steering angle in the second route, the first maximum angular velocity of the steering angle in the first route is smaller than the second maximum speed of the steering angle in the second route, The first number of fixed-steering operations in the first path is smaller than the second number of fixed-steering operations in the second path. The first required time of the first path is shorter than the second required time of the second path. The first area required for the first path is narrower than the second area of the second path. The first quality of parking at the first parking position related to the first path is higher than the second quality of parking at the second parking position related to the second path. In at least one case, the first recommendation degree of the first parking position is greater than the second recommendation degree of the second parking position. Input / output control device.

16. The input / output control device according to claim 11, The setting related to the method of obtaining the first recommendation degree of the first parking position and the second recommendation degree of the second parking position can be changed. Input / output control device.

17. The input / output control device according to claim 11, The sensor for obtaining external conditions A camera for obtaining an external image, A sonar that sends out sound waves to the outside and obtains external conditions from the reflected waves, A radar that sends out electromagnetic waves to the outside and obtains external conditions from the reflected waves, is at least one of Input / output control device.

18. The input / output control device according to claim 11, The input device is a touch panel superimposed on the display unit of the display device. Input / output control device.

19. The input / output control device according to claim 11, The first distance from an adjacent vehicle at the first parking position is greater than the second distance from an adjacent vehicle at the second parking position. The first roof coverage rate at the first parking position is greater than the second roof coverage rate at the second parking position. In at least one case, the first recommendation degree of the first parking position is greater than the second recommendation degree of the second parking position. Input / output control device.

20. An input / output control device configured to be coupled to a sensor that obtains external conditions of a vehicle, a display device visibly installed for a passenger of the vehicle, an input device that receives an operation of the passenger, and a vehicle control unit that controls at least steering of the vehicle, detects a parking position based on the external conditions acquired by the sensor, displays the parking position and the recommendation degree of the parking position on the display device. When the input device receives an operation of selecting the parking position, the vehicle control unit controls at least the steering so that the vehicle travels toward the selected parking position. Input / output control device.

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